CN113857378A - Middle overturning platform of automatic stamping manipulator - Google Patents
Middle overturning platform of automatic stamping manipulator Download PDFInfo
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- CN113857378A CN113857378A CN202111262957.XA CN202111262957A CN113857378A CN 113857378 A CN113857378 A CN 113857378A CN 202111262957 A CN202111262957 A CN 202111262957A CN 113857378 A CN113857378 A CN 113857378A
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- 238000007599 discharging Methods 0.000 claims abstract description 30
- 239000000463 material Substances 0.000 claims abstract description 22
- 230000000712 assembly Effects 0.000 claims abstract description 4
- 238000000429 assembly Methods 0.000 claims abstract description 4
- 230000001360 synchronised effect Effects 0.000 claims abstract description 4
- 239000000696 magnetic material Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 abstract description 4
- 235000017491 Bambusa tulda Nutrition 0.000 abstract description 4
- 241001330002 Bambuseae Species 0.000 abstract description 4
- 235000015334 Phyllostachys viridis Nutrition 0.000 abstract description 4
- 239000011425 bamboo Substances 0.000 abstract description 4
- 239000007787 solid Substances 0.000 abstract description 4
- 238000003754 machining Methods 0.000 abstract description 2
- 238000004080 punching Methods 0.000 description 11
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000007664 blowing Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/04—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work
- B21D43/14—Advancing work in relation to the stroke of the die or tool by means in mechanical engagement with the work by turning devices, e.g. turn-tables
- B21D43/145—Turnover devices, i.e. by turning about a substantially horizontal axis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/026—Combination of two or more feeding devices provided for in B21D43/04 - B21D43/18
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
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Abstract
The invention relates to the technical field of machining, in particular to a middle overturning platform of an automatic stamping manipulator, which comprises a fixed cylinder, a rotating cylinder, an adjusting ring, a material discharging cylinder, a bevel gear, a limiting assembly, a first electromagnetic locking device, a second electromagnetic locking device and a driving assembly, wherein the rotating cylinder is rotatably arranged in the fixed cylinder; the adjusting ring is coaxially and rotatably arranged on the outer periphery of the rotating cylinder, and helical teeth are uniformly distributed on the inner periphery of the adjusting ring; rotating shafts are arranged on two sides of the discharging cylinder, the discharging cylinder is coaxially arranged in the rotating cylinder, and the rotating shafts penetrate through the rotating cylinder along the radial direction and are in rotating fit with the rotating cylinder; the bevel gear is coaxially arranged on the rotating shaft and is meshed with the helical teeth; the limiting assemblies are arranged at two ends of the charging barrel; first electromagnetism locking ware sets up between a solid fixed cylinder and a rotation section of thick bamboo, and second electromagnetism locking ware sets up between a rotation section of thick bamboo and regulation circle, and drive assembly sets up on a solid fixed cylinder and is connected with regulation circle synchronous drive, and this application can adjust the part along the horizontal direction and the angle along vertical direction, and simple structure.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a middle overturning platform of an automatic stamping manipulator.
Background
The stamping manipulator is a device which is developed specially for realizing automatic unmanned production of stamping on the basis of automatic equipment according to the characteristics of stamping production. The material stamping, carrying, loading and unloading and other work can be carried out on each stamping station instead of manpower, and the efficiency of the whole production line reaches 5 seconds. The automation equipment is an important spirit in the aspects of saving the labor cost, improving the safety of manpower and equipment, keeping the productivity, quality and process stability of products and the like of the processing industries with repeatability, danger and high beat, such as stamping and the like, and is the development and innovation of the modernization industrialization. The upset platform in the middle of generally all taking of punching press manipulator in the existing market, but traditional upset platform structure is too simple, only can follow vertical direction upset, and can't overturn after the certain angle of horizontal direction rotation, or can't rotate certain angle along the horizontal direction after the vertical direction upset again, and then unable adaptation punching press manipulator is fixed a position with the material.
Chinese patent CN201610971124.3 discloses a stamping automatic manipulator middle overturning table. When the automatic manipulator of punching press was taken out the part from upper press, when next station need carry out part angular adjustment, middle turning device was at first adjusted it to the part state of receiving: the positioning device is located below a manipulator, a clamping plate below the positioning device is folded through a clamping cylinder, the clamping plate above the positioning device is opened, then the manipulator puts a part into the positioning device, the clamping plate above the positioning device is folded to fix the part, then the whole supporting and overturning mechanism moves towards the outside of the manipulator, a second servo motor works after the part is adjusted to a proper position, the part is overturned to a required angle, the supporting and overturning mechanism moves to the lower side of the manipulator through a first servo motor, at the moment, the clamping plate above the positioning device is opened, the manipulator takes the part away, and overturning and carrying of the part is completed.
The middle overturning platform can only overturn along the vertical direction, cannot deflect along the horizontal direction for a moving angle and then overturn, or cannot deflect along the horizontal direction for a certain angle after overturning along the vertical direction.
Disclosure of Invention
In order to solve the technical problem, the middle overturning platform of the automatic stamping manipulator is provided.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
a middle overturning platform of an automatic stamping manipulator comprises a fixed cylinder, a rotating cylinder, an adjusting ring, a material discharging cylinder, a bevel gear, a limiting assembly, a first electromagnetic locker, a second electromagnetic locker and a driving assembly, wherein the rotating cylinder is coaxially and rotatably arranged in the fixed cylinder; the adjusting ring is coaxially and rotatably arranged on the periphery of the rotating cylinder, the adjusting ring is positioned at the top of the rotating cylinder, and helical teeth are uniformly arranged on the inner periphery of the adjusting ring along the circumferential direction; the two sides of the same radial surface of the discharging cylinder are provided with rotating shafts extending along the radial direction, the discharging cylinder is coaxially arranged in the rotating cylinder, and the rotating shafts penetrate through the rotating cylinder along the radial direction and are in rotating fit with the rotating cylinder; the bevel gear is coaxially arranged on the rotating shaft and is meshed with the helical teeth; the limiting assemblies are arranged at two ends of the charging barrel and are used for fixing parts in the charging barrel; the first electromagnetic locking device is arranged between the fixed cylinder and the rotating cylinder and used for generating braking torque on the rotating cylinder relative to the fixed cylinder in a power-on state; the second electromagnetic locking device is arranged between the rotating cylinder and the adjusting ring and used for generating braking torque on the adjusting ring relative to the rotating cylinder under the power-on state; the driving component is arranged on the fixed cylinder and is in synchronous transmission connection with the adjusting ring.
Preferably, the first electromagnetic lock comprises a first electromagnetic coil and a first magnetic attracting ring, the first electromagnetic coil and the first magnetic attracting ring are respectively and coaxially arranged on the inner circumferential surface of the fixed cylinder and the outer circumferential surface of the rotating cylinder, the first electromagnetic coil and the first magnetic attracting ring are located at the same vertical height, the second electromagnetic lock comprises a second electromagnetic coil and a second magnetic attracting ring, the second electromagnetic coil and the second magnetic attracting ring are respectively and coaxially arranged on the outer circumferential surface of the rotating cylinder and the inner circumferential surface of the adjusting ring, and the second electromagnetic coil and the second magnetic attracting ring are located at the same vertical height.
Preferably, the rotating cylinder and the adjusting ring are both made of a magnetic material, the first electromagnetic lock comprises a first electromagnetic coil, the first electromagnetic coil is coaxially arranged on the inner circumferential surface of the fixed cylinder, the rotating cylinder is positioned on the inner circumference of the first electromagnetic coil, the second electromagnetic lock comprises a second electromagnetic coil, the second electromagnetic coil is coaxially arranged on the outer circumferential surface of the rotating cylinder, and the adjusting ring is positioned on the inner circumference of the second electromagnetic coil.
Preferably, the outer circumferential surface of the adjusting ring is uniformly provided with spur gears extending along the vertical direction along the circumferential direction, the driving assembly comprises a servo motor and a first gear, the servo motor is arranged on the fixed cylinder along the vertical direction, the first gear is coaxially arranged on an output shaft of the servo motor, and the first gear is meshed with the spur gears.
Preferably, still include photoelectric encoder and second gear, photoelectric encoder sets up on the solid fixed cylinder along vertical direction, and the coaxial fixed setting of second gear is on servo motor's input shaft, and second gear and spur gear intermeshing.
Preferably, the device further comprises a first bearing, an inner ring of the first bearing is coaxially and fixedly arranged on the outer circumferential surface of the rotating cylinder, and the inner ring of the first bearing is fixedly connected with the inner circumferential surface of the fixed cylinder.
Preferably, the device further comprises a second bearing, an inner ring of the second bearing is fixedly connected with the outer circumferential surface of the rotating cylinder, and an outer ring of the second bearing is fixedly connected with the inner circumferential surface of the adjusting ring.
Preferably, the limiting assembly comprises a placing table, a rack, a third gear, a fourth gear and a single-shaft cylinder, and the placing table is arranged on two sides of two ends of the outer circumferential surface of the charging barrel along the radial direction; the rack is arranged on the mounting table in a sliding mode along the radial direction, the third gear and the fourth gear are arranged on the mounting table in a rotating mode in the same axial direction, the third gear and the fourth gear are meshed with two sides of the rack, and a first clamping arm and a second clamping arm facing to the axis of the charging barrel are arranged on the circumferential surfaces of the third gear and the fourth gear respectively; the single-shaft cylinder is arranged at the other side of the mounting table, and an output shaft of the single-shaft cylinder is fixedly connected with one end of the rack.
Preferably, still include lifting unit, lifting unit includes the bottom plate, the roof, the stand, lifter plate and elevator motor, and the top passes through the stand level and sets up the top at the bottom plate, and the lifter plate sets up the top at the roof along the horizontal direction, and the bottom of lifter plate is provided with and runs through the roof and rather than sliding fit's locating lever along vertical direction, and elevator motor sets up the bottom at the roof, and elevator motor's output shaft is connected with the bottom of lifter plate, and the fixed top that sets up at the roof of fixed section of thick bamboo.
Preferably, still include ball screw slip table, the lifting unit sets up the top at the work end of ball screw slip table.
Compared with the prior art, the application has the beneficial effects that:
1. according to the device, the angles of the parts in the horizontal direction and the vertical direction can be adjusted through the fixed cylinder, the rotating cylinder, the adjusting ring, the discharging cylinder, the bevel gear, the limiting assembly, the first electromagnetic locker, the second electromagnetic locker and the driving assembly, the structure is simple, and the posture of the parts can be adjusted conveniently;
2. according to the brake device, the brake torque can be generated between the fixed cylinder and the rotating cylinder through the first electromagnetic coil and the first magnetic attracting ring, and the brake torque can be generated between the rotating cylinder and the adjusting ring through the second electromagnetic coil and the second magnetic attracting ring so as to adjust the angle of the part in the horizontal direction and the vertical direction;
3. according to the electromagnetic braking device, the rotating cylinder and the adjusting ring are made of magnetism-attracting materials, and electromagnetic force can be generated through the first electromagnetic coil and the second electromagnetic coil to generate braking torque for the rotating cylinder and the adjusting ring so as to adjust the angle of a part in the horizontal direction and the vertical direction;
4. according to the device, the servo motor and the first gear can output stable rotating torque to the adjusting ring, so that the part posture can be adjusted conveniently;
5. the output torque of the servo motor can be conveniently and accurately controlled by the controller through the photoelectric encoder and the second gear, so that the rotation angle of a part can be conveniently and accurately controlled;
6. the rotating cylinder can coaxially and stably rotate in the fixed cylinder through the first bearing, so that the stability of the overturning platform is improved;
7. the adjusting ring can coaxially and stably rotate on the periphery of the rotating cylinder through the second bearing so as to improve the stability of the overturning platform;
8. according to the feeding device, the two ends of the feeding barrel can be radially opened and closed through the mounting table, the rack, the third gear, the fourth gear and the single-shaft cylinder, so that parts cannot fall off in the feeding barrel;
9. the feeding barrel can be lifted or lowered along the vertical direction through the lifting assembly, so that the punching automatic manipulators with different heights can feed and take materials conveniently;
10. this application can make its work end remove lifting unit, a solid fixed cylinder, a section of thick bamboo, regulating ring, discharge tube, bevel gear, spacing subassembly, first electromagnetism locking ware, second electromagnetism locking ware and drive assembly along the horizontal direction through starting ball screw slip table to get material and blowing in the automatic manipulator of punching press.
Drawings
FIG. 1 is a perspective view of a flipping table embodying the present invention;
FIG. 2 is a front view of a roll-over table embodying the present invention;
FIG. 3 is a top view of a roll-over table embodying the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at A;
FIG. 5 is a side view of a flipping table embodying the present invention;
FIG. 6 is a perspective sectional view at section B-B of FIG. 5;
FIG. 7 is a cross-sectional view at section B-B of FIG. 5;
FIG. 8 is an enlarged view of a portion of FIG. 7 at C;
FIG. 9 is an enlarged view of a portion of FIG. 7 at D;
FIG. 10 is a perspective view of a discharge cartridge and spacing assembly embodying the present invention from a first perspective;
FIG. 11 is a perspective view of a discharge cartridge and spacing assembly embodying the present invention from a second perspective;
FIG. 12 is a perspective view of an adjustment ring embodying the present invention;
FIG. 13 is a perspective view of a rotary barrel embodying the present invention
FIG. 14 is a front view of a lift assembly embodying the present invention;
figure 15 is a perspective view of a lift assembly embodying the present invention.
The reference numbers in the figures are:
1-a fixed cylinder; 1 a-a first bearing; 1 b-a second bearing; 2-rotating the cylinder; 3-adjusting ring; 4-charging the barrel; 4 a-a rotating shaft; 5-bevel gears; 6-a limiting component; 6 a-a placement table; 6 b-a rack; 6 c-third gear; 6c 1-first gripper arm; 6 d-fourth gear; 6d 1-second gripper arm; 6 e-single axis cylinder; 7-a first electromagnetic latch; 7 a-a first electromagnetic coil; 7 b-a first magnetically-philic ring; 8-a second electromagnetic latch; 8 a-a second electromagnetic coil; 8 b-a second magnetophilic ring; 9-a drive assembly; 9 a-a servo motor; 9 b-a first gear; 9 c-photoelectric encoder; 9 d-second gear; 10 a-a bottom plate; 10 b-a top plate; 10 c-a column; 10 d-a lifter plate; 10d 1-locating lever; 10 e-a lift motor; 11-ball screw sliding table.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
In order to solve the technical problem that the existing overturning platform cannot rotate along the horizontal direction, as shown in fig. 6, the following preferred technical scheme is provided:
a middle overturning platform of an automatic stamping manipulator comprises a fixed cylinder 1, a rotating cylinder 2, an adjusting ring 3, a discharging cylinder 4, a bevel gear 5, a limiting assembly 6, a first electromagnetic locker 7, a second electromagnetic locker 8 and a driving assembly 9, wherein the rotating cylinder 2 is coaxially and rotatably arranged in the fixed cylinder 1; the adjusting ring 3 is coaxially and rotatably arranged on the periphery of the rotating cylinder 2, the adjusting ring 3 is positioned at the top of the rotating cylinder 2, and helical teeth are uniformly arranged on the inner periphery of the adjusting ring 3 along the circumferential direction; two sides of the same radial surface of the discharging barrel 4 are provided with rotating shafts 4a extending along the radial direction, the discharging barrel 4 is coaxially arranged in the rotating barrel 2, and the rotating shafts 4a penetrate through the rotating barrel 2 along the radial direction and are in rotating fit with the rotating barrel 2; the bevel gear 5 is coaxially arranged on the rotating shaft 4a, and the bevel gear 5 is meshed with the helical teeth; the limiting assemblies 6 are arranged at two ends of the discharging barrel 4 and are used for fixing parts in the discharging barrel 4; the first electromagnetic locker 7 is arranged between the fixed cylinder 1 and the rotating cylinder 2, and the first electromagnetic locker 7 is used for generating braking torque on the rotating cylinder 2 relative to the fixed cylinder 1 in an electrified state; the second electromagnetic locker 8 is arranged between the rotating cylinder 2 and the adjusting ring 3, and the second electromagnetic locker 8 is used for generating braking torque on the adjusting ring 3 relative to the rotating cylinder 2 in an electrified state; the driving component 9 is arranged on the fixed cylinder 1 and is in synchronous transmission connection with the adjusting ring 3.
Specifically, the overturning platform is arranged in a working area of the stamping automatic manipulator in advance, before the stamping automatic manipulator takes a part from a stamping device and places the part on the overturning platform, the first electromagnetic locking device 7 and the second electromagnetic locking device 8 are both in an electrified state, so that the rotating cylinder 2 cannot rotate relative to the fixed cylinder 1, the adjusting ring 3 cannot rotate relative to the rotating cylinder 2, the adjusting ring 3 and the bevel gear 5 are locked and cannot rotate relative to each other, and the discharging cylinder 4 can be prevented from rotating in the adjusting ring 3 through the rotating shaft 4a due to external force when the part is placed in the discharging cylinder 4;
when the parts are placed in the material placing barrel 4, the limiting assembly 6 positioned at the bottom of the material placing barrel 4 is in a closed state to limit the opening at the bottom end of the material placing barrel 4, and the limiting assembly 6 positioned at the top of the material placing barrel 4 is in an open state to open the opening at the top of the material placing barrel 4, so that the punching automatic mechanical hand can place the parts in the material placing barrel 4, and after the placing is finished, the limiting assembly 6 at the top of the material placing barrel 4 is closed to limit the parts in the material placing barrel 4, so that the parts are prevented from being separated from the material placing barrel 4 during the overturning;
when a part needs to be rotated in the horizontal direction, the current of the first electromagnetic locking device 7 is cut off, the second electromagnetic locking device 8 is kept in an electrified state, no braking torque exists between the rotating cylinder 2 and the fixed cylinder 1, and braking torque exists between the adjusting ring 3 and the rotating cylinder 2, so that the rotating cylinder 2 can coaxially rotate in the fixed cylinder 1, and the driving assembly 9 is started to drive the adjusting ring 3, the rotating cylinder 2 and the discharging cylinder 4 to coaxially rotate in the fixed cylinder 1, so that the purpose that the part rotates in the horizontal direction is achieved;
when the part needs to be turned over in the vertical direction, the electric power of the second electromagnetic locking device 8 is cut off, the first electromagnetic locking device 7 is kept in an electrified state, no braking torque exists between the adjusting ring 3 and the rotating cylinder 2, and braking torque exists between the rotating cylinder 2 and the rotating cylinder 2, so that the adjusting ring 3 can coaxially rotate on the rotating cylinder 2, the driving assembly 9 is started to drive the adjusting ring 3 to rotate on the rotating cylinder 2, the bevel gear is meshed with the bevel gear 5, the bevel gear 5 can drive the rotating shaft 4a to synchronously rotate, and the charging cylinder 4 can drive the part to turn over in the rotating cylinder 2, so that the purpose that the part is turned over in the vertical direction is achieved;
and after the part rotates along the horizontal direction and overturns along the vertical direction, the limiting assembly 6 positioned at the top of the discharging barrel 4 is started, so that the top of the discharging barrel 4 is opened, and the punching automatic mechanical arm is convenient to take out the part from the discharging barrel 4.
As a first embodiment of the present application, in order to solve the technical problem of how to generate braking torques on the rotary cylinder 2 and the adjusting ring 3 by the first electromagnetic locker 7 and the second electromagnetic locker 8 in the electrified state, as shown in fig. 8, the following preferred technical solutions are provided:
the first electromagnetic locking device 7 comprises a first electromagnetic coil 7a and a first magnetic affinity ring 7b, the first electromagnetic coil 7a and the first magnetic affinity ring 7b are respectively and coaxially arranged on the inner circumferential surface of the fixed cylinder 1 and the outer circumferential surface of the rotating cylinder 2, the first electromagnetic coil 7a and the first magnetic affinity ring 7b are located at the same vertical height, the second electromagnetic locking device 8 comprises a second electromagnetic coil 8a and a second magnetic affinity ring 8b, the second electromagnetic coil 8a and the second magnetic affinity ring 8b are respectively and coaxially arranged on the outer circumferential surface of the rotating cylinder 2 and the inner circumferential surface of the adjusting ring 3, and the second electromagnetic coil 8a and the second magnetic affinity ring 8b are located at the same vertical height.
Specifically, when a part needs to be rotated in the horizontal direction, the rotating cylinder 2 needs to be enabled to rotate relative to the fixed cylinder 1, the adjusting ring 3 is fixed relative to the rotating cylinder 2, the second electromagnetic coil 8a is kept in an electrified state and generates magnetic force to attract the second magnetic attracting ring 8b, the adjusting ring 3 is enabled to receive braking torque, the rotating cylinder 2 and the adjusting ring 3 can be further fixed relative to each other, the first electromagnetic coil 7a is in a power-off state and cannot generate braking torque on the first magnetic attracting ring 7b without generating magnetic force, and the rotating cylinder 2 and the adjusting ring 3 can rotate relative to the fixed cylinder 1;
when a part needs to be turned over along a vertical direction, the rotating cylinder 2 needs to be fixed relative to the fixed cylinder 1, the adjusting ring 3 can rotate relative to the rotating cylinder 2, namely, the first electromagnetic coil 7a is kept in an electrified state and is enabled to generate braking torque on the rotating cylinder 2, the second electromagnetic coil 8a is in a power-off state and is enabled to compensate magnetic force and cannot generate braking torque on the adjusting ring 3, the adjusting ring 3 can rotate relative to the rotating cylinder 2, and then the bevel gear 5 meshed with the adjusting ring drives the charging cylinder 4 to turn over.
As a second embodiment of the present application, in order to solve the technical problem of how to generate braking torque on the rotary cylinder 2 and the adjusting ring 3 by the first electromagnetic locker 7 and the second electromagnetic locker 8 in the electrified state, as shown in fig. 8, the following preferred technical solutions are provided:
the rotating cylinder 2 and the adjusting ring 3 are both made of a magnetic material, the first electromagnetic locker 7 comprises a first electromagnetic coil 7a, the first electromagnetic coil 7a is coaxially arranged on the inner circumferential surface of the fixed cylinder 1, the rotating cylinder 2 is positioned on the inner circumference of the first electromagnetic coil 7a, the second electromagnetic locker 8 comprises a second electromagnetic coil 8a, the second electromagnetic coil 8a is coaxially arranged on the outer circumferential surface of the rotating cylinder 2, and the adjusting ring 3 is positioned on the inner circumference of the second electromagnetic coil 8 a.
Specifically, because of the rotation cylinder 2 and the adjusting ring 3 are made of magnetic materials, when the first electromagnetic coil 7a and the second electromagnetic coil 8a are electrified, the first electromagnetic coil 7a and the second electromagnetic coil 8a can generate magnetic force and respectively generate braking torque for the rotation cylinder 2 and the adjusting ring 3, and therefore the angle of the adjusting part along the horizontal direction and the vertical direction can be conveniently adjusted.
In order to solve the technical problem of how to synchronously drive and connect the driving component 9 with the adjusting ring 3, as shown in fig. 8, the following preferred technical solutions are provided:
the positive teeth extending along the vertical direction are uniformly arranged on the outer circumferential surface of the adjusting ring 3 along the circumferential direction, the driving assembly 9 comprises a servo motor 9a and a first gear 9b, the servo motor 9a is arranged on the fixed cylinder 1 along the vertical direction, the first gear 9b is coaxially arranged on an output shaft of the servo motor 9a, and the first gear 9b is meshed with the positive teeth.
Specifically, when the alignment point adjusting ring 3 is needed, the servo motor 9a is started, so that the output shaft of the servo motor drives the first gear 9b to coaxially rotate, and the adjusting ring 3 can synchronously rotate due to the fact that the first gear 9b is meshed with the positive teeth on the outer circumferential surface of the adjusting ring 3, and angles of parts along the horizontal direction or the vertical direction can be conveniently adjusted.
In order to solve the technical problem of accurately detecting the output displacement of the servo motor 9a, as shown in fig. 9, the following preferable technical solutions are provided:
still include photoelectric encoder 9c and second gear 9d, photoelectric encoder 9c sets up on fixed cylinder 1 along vertical direction, and the coaxial fixed setting of second gear 9d is on servo motor 9 a's input shaft, and second gear 9d and spur gear intermeshing.
Specifically, photoelectric encoder 9c is connected with the controller electricity, through making second gear 9d and regulation circle 3 meshing to the input shaft of photoelectric encoder 9c can trun into the rotation displacement volume of adjusting circle 3 into the electrical signal and send the controller, thereby be convenient for by the output torque of controller control servo motor 9a, so that the accurate control part is along the level or along vertical direction's angle.
In order to solve the technical problem of how to coaxially and stably rotate the rotating cylinder 2 in the fixed cylinder 1, as shown in fig. 8, the following preferred technical solutions are provided:
the device also comprises a first bearing 1a, wherein the inner ring of the first bearing 1a is coaxially and fixedly arranged on the outer circumferential surface of the rotating cylinder 2, and the inner ring of the first bearing 1a is fixedly connected with the inner circumferential surface of the fixed cylinder 1.
Specifically, the rotary cylinder 2 can coaxially and stably rotate in the fixed cylinder 1 through the first bearing 1a, so that the stability of the overturning platform is improved.
In order to solve the technical problem of how to coaxially and stably rotate the adjusting ring 3 on the outer circumferential surface of the rotating cylinder 2, as shown in fig. 8, the following preferred technical solutions are provided:
the device also comprises a second bearing 1b, wherein the inner ring of the second bearing 1b is fixedly connected with the outer circumferential surface of the rotating cylinder 2, and the outer ring of the second bearing 1b is fixedly connected with the inner circumferential surface of the adjusting ring 3.
Specifically, the adjusting ring 3 can rotate coaxially and stably at the periphery of the rotating cylinder 2 through the second bearing 1b, so that the stability of the overturning platform is improved.
In order to solve the technical problem of how the limiting assembly 6 fixes the parts in the charging barrel 4, as shown in fig. 10 and fig. 11, the following preferred technical solutions are provided:
the limiting assembly 6 comprises a mounting table 6a, a rack 6b, a third gear 6c, a fourth gear 6d and a single-shaft cylinder 6e, and the mounting table 6a is radially arranged on two sides of two ends of the outer circumferential surface of the material discharging cylinder 4; the rack 6b is arranged on the placing table 6a in a sliding manner along the radial direction, the third gear 6c and the fourth gear 6d are arranged on the placing table 6a in a coaxial rotating manner, the third gear 6c and the fourth gear 6d are meshed with two sides of the rack 6b, and a first clamping arm 6c1 and a second clamping arm 6d1 facing to the axis of the charging barrel 4 are respectively arranged on the circumferential surfaces of the third gear 6c and the fourth gear 6 d; the single-shaft cylinder 6e is arranged on the other side of the placing table 6a, and an output shaft of the single-shaft cylinder 6e is fixedly connected with one end of the rack 6 b.
Specifically, the mounting table 6a is used for enabling the output shaft of the single-shaft cylinder 6e at the bottom end of the discharging cylinder 4 to be in an extended state when the punching automatic manipulator is used for feeding, so that the third gear 6c and the fourth gear 6d at the bottom end can respectively drive the first clamping arm 6c1 and the second clamping arm 6d1 to be in a clamping state and be intercepted at the bottom end of the discharging cylinder 4, the first clamping arm 6c1 and the second clamping arm 6d1 at the top end of the discharging cylinder 4 are in an opening state and are arranged at the top end of the discharging cylinder 4, so that the punching automatic manipulator can place parts in the discharging cylinder 4, and the first clamping arm 6c1 and the second clamping arm 6d1 at the bottom end of the discharging cylinder 4 are in an intercepting state, so that the parts can be prevented from passing through the discharging cylinder 4, and after the placing is completed, the first clamping arm 6c1 and the second clamping arm 6d1 at the top end of the discharging cylinder 4 are intercepted at the top end of the discharging cylinder 4 so as to prevent the parts from rotating and overturning, the parts are released from the discharge barrel 4.
In order to solve the technical problem of adapting to different installation environments so as to facilitate the placing and clamping of parts by a stamping automatic manipulator, as shown in fig. 14 and 15, the following preferred technical solutions are provided:
still include lifting unit, lifting unit includes bottom plate 10a, roof 10b, stand 10c, lifter plate 10d and elevator motor 10e, the top is passed through the stand 10c level and is set up the top at bottom plate 10a, lifter plate 10d sets up the top at roof 10b along the horizontal direction, and lifter plate 10 d's bottom is provided with and runs through roof 10b along vertical direction and rather than sliding fit's locating lever 10d1, elevator motor 10e sets up the bottom at roof 10b, and elevator motor 10 e's output shaft is connected with lifter plate 10 d's bottom, the fixed top that sets up at roof 10b of fixed cylinder 1.
It is specific, can rise or reduce the charging barrel 4 along vertical direction through lifting unit, so that the not punching press of co-altitude automation manipulator carries out the blowing and gets the material, bottom plate 10a, roof 10b and stand 10c constitute the support that is used for settling lifter plate 10d and elevator motor 10e, through starting elevator motor 10e, make its output shaft can follow vertical direction removal lifter plate 10d, and locating lever 10d1 can prevent that lifter plate 10d is rotatory at the top of roof 10b, so that the roll-over table is more stable.
In order to solve the technical problem of how to move the fixed cylinder 1 in the horizontal direction so as to facilitate the material taking and placing of the punching automation manipulator, as shown in fig. 1 and fig. 2, the following preferred technical solutions are provided:
still include ball screw slip table 11, the lifting unit sets up the top at ball screw slip table 11's work end.
Specifically, through starting the ball screw sliding table 11, the working end of the ball screw sliding table can move the lifting assembly, the fixed cylinder 1, the rotating cylinder 2, the adjusting ring 3, the discharging cylinder 4, the bevel gear 5, the limiting assembly 6, the first electromagnetic locking device 7, the second electromagnetic locking device 8 and the driving assembly 9 along the horizontal direction, so that the stamping automatic mechanical arm can take materials and discharge materials.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The middle overturning platform of the stamping automatic manipulator is characterized by comprising a fixed cylinder (1), a rotating cylinder (2), an adjusting ring (3), a material discharging cylinder (4), a bevel gear (5), a limiting assembly (6), a first electromagnetic locker (7), a second electromagnetic locker (8) and a driving assembly (9), wherein the rotating cylinder (2) is coaxially and rotatably arranged in the fixed cylinder (1); the adjusting ring (3) is coaxially and rotatably arranged on the periphery of the rotating cylinder (2), the adjusting ring (3) is positioned at the top of the rotating cylinder (2), and helical teeth are uniformly arranged on the inner periphery of the adjusting ring (3) along the circumferential direction; two sides of the same radial surface of the charging barrel (4) are provided with rotating shafts (4a) extending along the radial direction, the charging barrel (4) is coaxially arranged in the rotating barrel (2), and the rotating shafts (4a) penetrate through the rotating barrel (2) along the radial direction and are in rotating fit with the rotating barrel; the bevel gear (5) is coaxially arranged on the rotating shaft (4a), and the bevel gear (5) is meshed with the helical teeth; the limiting assemblies (6) are arranged at two ends of the charging barrel (4) and are used for fixing parts in the charging barrel (4); the first electromagnetic locker (7) is arranged between the fixed cylinder (1) and the rotating cylinder (2), and the first electromagnetic locker (7) is used for generating braking torque on the rotating cylinder (2) relative to the fixed cylinder (1) in an electrified state; the second electromagnetic locker (8) is arranged between the rotating cylinder (2) and the adjusting ring (3), and the second electromagnetic locker (8) is used for generating braking torque on the adjusting ring (3) relative to the rotating cylinder (2) in an electrified state; the driving component (9) is arranged on the fixed cylinder (1) and is in synchronous transmission connection with the adjusting ring (3).
2. The intermediate overturning platform of the stamping automatic manipulator according to claim 1, wherein the first electromagnetic locker (7) comprises a first electromagnetic coil (7a) and a first magnetic-attracting ring (7b), the first electromagnetic coil (7a) and the first magnetic-attracting ring (7b) are respectively and coaxially arranged on the inner circumferential surface of the fixed cylinder (1) and the outer circumferential surface of the rotating cylinder (2), the first electromagnetic coil (7a) and the first magnetic attracting ring (7b) are positioned at the same vertical height, the second electromagnetic locker (8) comprises a second electromagnetic coil (8a) and a second magnetic attracting ring (8b), the second electromagnetic coil (8a) and the second magnetic attracting ring (8b) are respectively and coaxially arranged on the outer circumferential surface of the rotating cylinder (2) and the inner circumferential surface of the adjusting ring (3), and the second electromagnetic coil (8a) and the second magnetic coil (8b) are positioned at the same vertical height.
3. The middle overturning platform of the automatic stamping manipulator as claimed in claim 1, wherein the rotating cylinder (2) and the adjusting ring (3) are made of a magnetic material, the first electromagnetic locker (7) comprises a first electromagnetic coil (7a), the first electromagnetic coil (7a) is coaxially arranged on the inner circumferential surface of the fixed cylinder (1), the rotating cylinder (2) is positioned on the inner circumference of the first electromagnetic coil (7a), the second electromagnetic locker (8) comprises a second electromagnetic coil (8a), the second electromagnetic coil (8a) is coaxially arranged on the outer circumferential surface of the rotating cylinder (2), and the adjusting ring (3) is positioned on the inner circumference of the second electromagnetic coil (8 a).
4. The automatic stamping manipulator middle overturning platform according to any one of claims 1 to 3, wherein the outer circumferential surface of the adjusting ring (3) is uniformly provided with spur teeth extending in the vertical direction along the circumferential direction, the driving assembly (9) comprises a servo motor (9a) and a first gear (9b), the servo motor (9a) is arranged on the fixed cylinder (1) in the vertical direction, the first gear (9b) is coaxially arranged on the output shaft of the servo motor (9a), and the first gear (9b) is meshed with the spur teeth.
5. The middle overturning platform of the automatic stamping manipulator as claimed in claim 4, further comprising a photoelectric encoder (9c) and a second gear (9d), wherein the photoelectric encoder (9c) is arranged on the fixed cylinder (1) along the vertical direction, the second gear (9d) is coaxially and fixedly arranged on an input shaft of the servo motor (9a), and the second gear (9d) is meshed with the spur gear.
6. The middle overturning platform of the automatic stamping manipulator according to claim 1, further comprising a first bearing (1a), wherein an inner ring of the first bearing (1a) is coaxially and fixedly arranged on the outer circumferential surface of the rotating cylinder (2), and the inner ring of the first bearing (1a) is fixedly connected with the inner circumferential surface of the fixed cylinder (1).
7. The middle overturning platform of the automatic stamping manipulator as claimed in claim 1, further comprising a second bearing (1b), wherein an inner ring of the second bearing (1b) is fixedly connected with an outer circumferential surface of the rotating cylinder (2), and an outer ring of the second bearing (1b) is fixedly connected with an inner circumferential surface of the adjusting ring (3).
8. The middle overturning platform of the automatic stamping manipulator according to claim 1, wherein the limiting assembly (6) comprises a mounting platform (6a), a rack (6b), a third gear (6c), a fourth gear (6d) and a single-shaft cylinder (6e), wherein the mounting platform (6a) is arranged at two sides of two ends of the outer circumferential surface of the charging barrel (4) along the radial direction; the rack (6b) is arranged on the mounting table (6a) in a sliding mode along the radial direction, the third gear (6c) and the fourth gear (6d) are arranged on the mounting table (6a) in a coaxial rotating mode, the third gear (6c) and the fourth gear (6d) are meshed with two sides of the rack (6b), and the circumferential surfaces of the third gear (6c) and the fourth gear (6d) are respectively provided with a first clamping arm (6c1) and a second clamping arm (6d1) facing the axis of the charging barrel (4); the single-shaft cylinder (6e) is arranged on the other side of the mounting table (6a) along the direction, and an output shaft of the single-shaft cylinder (6e) is fixedly connected with one end of the rack (6 b).
9. The middle overturning platform of the automatic stamping manipulator of claim 1, further comprising a lifting assembly, wherein the lifting assembly comprises a bottom plate (10a), a top plate (10b), an upright post (10c), a lifting plate (10d) and a lifting motor (10e), the top end of the lifting assembly is horizontally arranged at the top of the bottom plate (10a) through the upright post (10c), the lifting plate (10d) is arranged at the top of the top plate (10b) along the horizontal direction, a positioning rod (10d1) penetrating through the top plate (10b) along the vertical direction and in sliding fit with the top plate is arranged at the bottom end of the lifting plate (10d), the lifting motor (10e) is arranged at the bottom end of the top plate (10b), an output shaft of the lifting motor (10e) is connected with the bottom end of the lifting plate (10d), and the fixed cylinder (1) is fixedly arranged at the top of the top plate (10 b).
10. The intermediate overturning platform of the automatic stamping manipulator according to claim 9, further comprising a ball screw sliding platform (11), wherein the lifting assembly is arranged at the top end of the working end of the ball screw sliding platform (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111262957.XA CN113857378A (en) | 2021-10-28 | 2021-10-28 | Middle overturning platform of automatic stamping manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111262957.XA CN113857378A (en) | 2021-10-28 | 2021-10-28 | Middle overturning platform of automatic stamping manipulator |
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| CN113857378A true CN113857378A (en) | 2021-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111262957.XA Pending CN113857378A (en) | 2021-10-28 | 2021-10-28 | Middle overturning platform of automatic stamping manipulator |
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| CN105964824A (en) * | 2016-06-29 | 2016-09-28 | 柳州高华科技有限公司 | Servo turnover machine |
| CN106623654A (en) * | 2016-11-04 | 2017-05-10 | 江苏大学 | Middle roll-over table of automatic stamping mechanical hand |
| CN213104179U (en) * | 2020-09-04 | 2021-05-04 | 戴震班 | Positioning, overturning and induction control combined manipulator for high-cylinder stretching shell |
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2021
- 2021-10-28 CN CN202111262957.XA patent/CN113857378A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2011814A (en) * | 1978-01-10 | 1979-07-18 | Krupp Gmbh | Apparatus for Turning over Workpieces |
| JP2004025253A (en) * | 2002-06-26 | 2004-01-29 | Orii & Mec Corp | Turning-over device for pressed article |
| CN104338864A (en) * | 2014-10-29 | 2015-02-11 | 宁波新甬城数控自动化设备有限公司 | Turning device of stamping mechanical arm |
| CN105964824A (en) * | 2016-06-29 | 2016-09-28 | 柳州高华科技有限公司 | Servo turnover machine |
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